missing guard checks introduced

Author: Tory9

libraries/AP_GPS/AP_GPS.h

@@ -704,6 +704,7 @@ class AP_GPS
     // they should be configuring the GPS to run at
     uint16_t get_rate_ms(uint8_t instance) const;
 
+#if AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
     // general errors in the GNSS system
     uint32_t get_system_errors(uint8_t instance) const {
         return state[instance].system_errors;
@@ -726,6 +727,7 @@ class AP_GPS
     uint8_t get_spoofing_state(uint8_t instance) const {
         return state[instance].spoofing_state;
     }
+#endif  // AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
 
     struct GPS_timing {
         // the time we got our last fix in system milliseconds

libraries/AP_GPS/AP_GPS_SBF.cpp

@@ -596,7 +596,7 @@ AP_GPS_SBF::process_message(void)
                             (unsigned int)(ExtError & EXT_ERROR_MASK), (unsigned int)(temp.ExtError & EXT_ERROR_MASK));
         }
         ExtError = temp.ExtError;
-
+#if AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
         state.system_errors = static_cast<uint32_t>(AP_GPS::Errors::GPS_SYSTEM_ERROR_NONE);
 
         if (ExtError & DIFFCORRERROR) {
@@ -608,15 +608,15 @@ AP_GPS_SBF::process_message(void)
                 state.system_errors |= static_cast<uint32_t>(map_entry.ap_error_enum);
             }
         }
-
+#endif  // AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
         break;
     }
 
     case RFStatus:
     {
         const msg4092 &temp = sbf_msg.data.msg4092u;
         check_new_itow(temp.TOW, sbf_msg.length);
-#if HAL_GCS_ENABLED
+#if AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
         if (temp.Flags==0) {
             state.spoofing_state = static_cast<uint8_t>(AP_GPS::Spoofing::OK);
         }
@@ -653,14 +653,15 @@ AP_GPS_SBF::process_message(void)
             }
             p += temp.SBLength;
         }
-#endif
+#endif  // AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
         break;
     }
 
     case GALAuthStatus:
     {
         const msg4245 &temp = sbf_msg.data.msg4245u;
         check_new_itow(temp.TOW, sbf_msg.length);
+#if AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
         switch (temp.OSNMAStatus & (uint16_t)0b111) {
         case 0:
             state.authentication_state = static_cast<uint8_t>(AP_GPS::Authentication::DISABLED);
@@ -681,6 +682,7 @@ AP_GPS_SBF::process_message(void)
             state.authentication_state = static_cast<uint8_t>(AP_GPS::Authentication::UNKNOWN);
             break;
         }
+#endif  // AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
         break;
     }
 

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -1055,7 +1055,9 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
         { MAVLINK_MSG_ID_MISSION_CURRENT,       MSG_CURRENT_WAYPOINT},
         { MAVLINK_MSG_ID_SERVO_OUTPUT_RAW,      MSG_SERVO_OUTPUT_RAW},
         { MAVLINK_MSG_ID_RC_CHANNELS,           MSG_RC_CHANNELS},
+#if AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
         { MAVLINK_MSG_ID_GNSS_INTEGRITY,        MSG_GNSS_INTEGRITY},
+#endif
 #if AP_MAVLINK_MSG_RC_CHANNELS_RAW_ENABLED
         { MAVLINK_MSG_ID_RC_CHANNELS_RAW,       MSG_RC_CHANNELS_RAW},
 #endif
@@ -6498,10 +6500,12 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         AP::gps().send_mavlink_gps_rtk(chan, 1);
         break;
 #endif  // AP_GPS_GPS2_RTK_SENDING_ENABLED
+#if AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
     case MSG_GNSS_INTEGRITY:
         CHECK_PAYLOAD_SIZE(GNSS_INTEGRITY);
         AP::gps().send_mavlink_gnss_integrity(chan, 0);
         break;
+#endif  // AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
 #if AP_AHRS_ENABLED
     case MSG_LOCAL_POSITION:
         CHECK_PAYLOAD_SIZE(LOCAL_POSITION_NED);